Determination of motion freedom and direct kinematic problem solution of the mechanism similar to delta robot

Aleksandrovich, Markov Andrey; Sergeevna, Sharpanova Nataliya; Yurievich, Misyurin Sergey

doi:10.1109/iceee.2014.6978251

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2016

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“…They also discussed the properties of the forwarding kinematics and the inverse kinematics [8]. In [9], Aleksandrovich described a new manipulator with three DOF. The robot uses three kinematic chains and each of them consists of a parallelogram or two universal joints located at the base.…”

Section: Related Workmentioning

confidence: 99%

The spherical motion based on the inverse kinematics for a Delta robot

Young

Lin

2016

2016 2nd International Conference on Control, Automation and Robotics (ICCAR)

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The robot arms used in industry are classified as two categories including the se rial robot and the parallel robot. Compared with the serial robots, parallel robots have advantages in high precision, high stiffness, high load, high speed and low inertia. This work proposed and implemented a mechanism to perform spherical motion with merely extra modification of a Delta-based machine and the experimental results showed that this design is practical and stable for usage. According to the quantitative evaluation, the errors are within several millimeters.

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Section: Related Workmentioning

confidence: 99%